Study On Automatic Navigation System Of Seed-spraying Machinery Model

Spraying is one of the effective technologies and methods to improve degenerated land. In oreder to enhance the automaticity and work effiviency of spray-seeding machinery, reduce the work intensity of the drivers, decrease the probability of repeatting or leaking spraying, so that realize the grassland spray-seeding machinery automatic navigation driving in the deserted areas. In this paper, spray-seeding machinery was the research object, and electric vehicle chassis which was regarded as spray-seeding machinery model was used as the experimental platform. The automatic navigation control system of grassland spray-seeding machinery model was established in the graphics language of Lab VIEW.In this paper, the circuit of electric vehicle was transformed and rewired. The relay, PLC and stepper motor were installed in the electric vehicle. Voltage was detected and power was selected to perfect hardware circuit of spray-seeding machinery. The GPS whose precision is 3m-5m, which comes from Jidu company and DCM260B electronic compass whose precision is 0.1°, which comes from Ruifen company were used to locate and orient respectively in real-time for spray-seeding-machinery model. The parameters such as model’s gravity, lateral sides, the stiffness of the tire and the rotational inertia of the body were not needed to consider, establish the motion model of spray-seeding machinery model. The motion model was analyzed. The data that sensor acquired was applied to mathematical modeling with the fuzzy control algorithm. A fuzzy control strategy that suit for the research is established through simulation and experiment in the Lab VIEW.The GPS data were transformed from WGS84 coordinate to BJ54 coordinate which is common in China with the method of Gauss-Kruger projection. The west campus stadium of the Inner Mongolia Agriculture University is elected to experiment. Point A and point B is located by GPS. Point A and point B are connected. Thus line AB wae regarded as the route that spray-seeding machinery model need to track. The length of the line was confirmed as 100 m. The spray-seeding machinery model has taken four tracking experiment at the speed of 3.6km/h.The conclusion that maximum side deviation from the line AB was 4.91m, which was conformed to the precision(3m-5m) of GPS, when spray-seeding machinery model run at 3.6km/h is obtained.